I would like to know experiences 😭

So I’m pregnant with my first baby and I am 39 weeks. According to my doctor I am dilated 1cm and 75%effaced but my baby has still not engaged in the birth canal 😭 he made it seem concerning but I wanted to know if anyone else had any problem like this.

I keep reading that usually your first baby engages early like 2-3 weeks before you give birth, but it says some babies won’t engage until actually labor. Had anyone’s first baby not engaged until labor? And how far along were you when you went into labor?